Every time the calibration process stops before taking the 18 calibration poses. I have tried different backgrounds and different starting positions (making sure to update the "snapshot pose" feature). When I press "calibrate," the robot moves to a few locations taking pictures (differs in number depending on where I start relative to the board) and then for a few seconds the picture area on the left shows the Poses 1-9 grid. After that the camera begins flashing on and off and the "Calibrate" button is available again.

I know in the training something that was discussed was having error messages, or failure notices since those are not explicit.

@Grady_Turner Check in the Polyscope log what it says. Can you take a picture and post it. I guess after the robot has moved to its first calibration pose, the grid was lost probably due to a focus issue or a reflect on the grid. Can you also take a picture of the wizard once the Calibrate button has been reset. This will show us what the camera is looking at when the problem occurred.

Regarding adding explicit error messages, it has been integrated. I could probably send you an update tomorrow.

@PierreOlivier_Proulx Thanks for the information about the log file, I did not know the routines wrote explicitly to the log.

It looks like every time the system calculated the 18 poses, pose 11 "inverse kinematic" request returned false, and so the calibration failed. This was consistent on pose 11 every time.

I am doing this on a UR3, and as I mentioned, I tried several starting locations knowing how the robot might move, but my guess is that pose 11 is either too close to the base or too far away from the base. Any advice?

@Grady_Turner With the UR3 you need a different grid because of the reach of the robot. With the big grid, after the centering step, the robot is probably already too extended to be able to reach the calibration poses.

With the UR3, the squares of the grid must be 8.24 mm. You will find attached the original grid. To achieve the right dimensions, I printed it with a 58.8% scale factor. You should still verify the dimensions after printing.